This standard defines the minimum functional requirements and test procedures for HMCS. As a Level 4 sub-trip feature, HMCS performs the complete DDT on the portion of a trip on an access-restricted Motorway that satisfies its ODD constraints. On approaching ODD boundaries HMCS prepares the driver to re-engage in the driving task. If the driver fails to take over, it performs an MRM. HMCS can be featured in different forms e.g., including or excluding lane changes or allowing different non-driving related tasks. This document refers to the ISO 23792-x set of standards for the required driving performance in reference to the designed maneuvers.